中国机械工程2026，Vol.37Issue(8)：1909-1916,8.DOI:10.3969/j.issn.1004-132X.2026.08.010
基于支链力学模型的冗余/非冗余过约束2R1T并联机构刚度性能对比分析
Comparative Analysis of Stiffness Properties of Redundant/Non-redundant Over-constrained 2R1T PMs Based on the Mechanical Models of Limbs
摘要
Abstract
This paper presents a comparative stiffness performance analysis of two over-constrained parallel mechanisms(PMs)with redundant and non-redundant actuation,namely the 2RPU/2UPR and 2RPU/UPR configurations.First,the mechanical properties of the mechanism limbs are analyzed using the weighted generalized inverse method,yielding the distribution of limb forces within the prescribed work-space.Second,a simulation method for the dynamic mechanical properties at discrete interface point posi-tions is proposed to emulate the motion of translational pairs,and the simulation results are mutually vali-dated with theoretical analysis.Finally,based on the above findings,a comparative stiffness analysis of the two mechanisms is conducted from the perspective of the weakest limb components.The resistance and force conditions of the redundant limbs under external loads in different directions are obtained,providing guidance for the development of high-stiffness prototype structures.关键词
冗余驱动/2R1T并联机构/力学性能/刚度分析Key words
redundant actuation/2R1T parallel mechanism/mechanical property/stiffness analysis分类
机械制造引用本文复制引用
徐郑和,杨高炜,卢昌亨,贾富淳,蒙建国,王少锋..基于支链力学模型的冗余/非冗余过约束2R1T并联机构刚度性能对比分析[J].中国机械工程,2026,37(8):1909-1916,8.基金项目
内蒙古自治区自然科学基金(2023QN05007) （2023QN05007）
